WO2022199633A1

WO2022199633A1 - Motion imaging compensation apparatus and motion compensation method

Info

Publication number: WO2022199633A1
Application number: PCT/CN2022/082561
Authority: WO
Inventors: 秦军
Original assignee: 成都中信华瑞科技有限公司
Priority date: 2021-03-25
Filing date: 2022-03-23
Publication date: 2022-09-29
Also published as: CN114415195B; CN113189602A; CN114415195A; EP4318037A1; US20240080563A1

Abstract

A motion imaging compensation apparatus and a motion compensation method, relating to the technical field of imaging. The motion imaging compensation apparatus comprises a base, an imaging unit, a motion compensation unit, and a control system. The base is a carrying body of the imaging unit, the motion compensation unit, and the control unit; the motion compensation unit for an imaging target (6) comprises a main rotation structure and a secondary rotation structure; a rotation axis (2) of the secondary rotation structure is parallel to a rotation axis (3) of the main rotation structure in three-dimensional space, and rotation directions of the main and secondary rotation structures are opposite; the secondary rotation structure is connected to an optical component, and the secondary rotation structure drives the optical component to rotate; the main and secondary rotation structures rotate according to a set control program; a component, in a main optical axis of an imaging optical path, of a linear velocity of the main rotation structure at the axis of the secondary rotation structure is used for compensating the relative motion of the imaging target and the imaging unit; and the secondary rotation structure drives the optical component to rotate so as to implement attitude angle compensation. Within a set motion compensation range, an imaging field of view is imaged in a relatively static state during the exposure of a focal plane of an imaging system.

Description

A motion imaging compensation device and motion compensation method

technical field

The present invention relates to the technical field of motion imaging, and in particular, to a motion imaging compensation device and a motion compensation method.

Background technique

In many motion imaging environments, the relative motion between the field of view of the imaging target and the imaging system can be that the imaging target does not move and the imaging system moves, or the imaging system does not move and the imaging target moves, or both are moving. The relative motion speed can be uniform or non-uniform. In the same time coordinate system, the relative motion is equivalent to the relative displacement between the imaging system and the imaging target. The relative motion between the target and the imaging system is an important factor causing the degradation of image quality. In order to reduce the motion blur of the image, an effective method is to change or reduce the speed difference between the relative motion of the camera and the subject, and image the image when the relative motion displacement between the imaging system and the subject is small. When the relative movement speed is low, there are various methods and devices to reduce the relative movement speed to a small value, such as reciprocating movement. The reciprocating movement method includes: the control device controls the imaging device to reciprocate along the set trajectory; when the imaging device moves with the imaging target, and the difference between the movement speed of the imaging device and the movement speed of the imaging target is When within the preset range, the control device controls the imaging device to collect image data of the imaging target. After completing one imaging, the imaging device needs to return to the original position before imaging, and then start the next imaging. In the reciprocating motion mode, when the relative motion speed is high, the reciprocating motion compensation mechanism needs a long stroke to reach a high speed from static to high speed, which will lead to an increase in the volume of the motion compensation motion imaging compensation device. The second is that the reciprocating motion undergoes a forward motion from rest-start-acceleration-maintaining a constant speed-deceleration-rest and a reverse motion of a similar process, and the length of the motion is equivalent to the amplitude. When the frequency of reciprocating periodic motion continues to increase, high-frequency vibration is formed, and large amplitude superimposes high frequency to form a speed ceiling for high-speed reciprocating motion compensation, which cannot meet the imaging conditions.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a motion imaging compensation device and a motion compensation method, so as to solve the problem that the reciprocating frequency of the existing motion imaging compensation device is continuously increased during the reciprocating motion, so that the imaging conditions cannot be satisfied.

A motion imaging compensation device, the motion imaging compensation device includes a base, an imaging unit, a motion compensation unit and a control system, the base is used for fixing the spatial position of the imaging unit and the motion compensation unit, and the control system controls the motion imaging compensation In the operation of the device, the motion compensation unit includes a main rotation structure and a secondary rotation structure, and also includes an optical component arranged on the optical path between the photosensitive target surface of the imaging unit and the imaging target. The main rotation structure includes a wheel disc and a main rotation structure rotation shaft, the main rotation structure rotation shaft is arranged on the wheel disc, and the rotation of the main rotation structure rotation shaft drives the wheel disc to rotate. The secondary rotating structure includes a rotating shaft of the secondary rotating structure and a mounting seat for installing the optical component. The rotating axis of the secondary rotating structure is arranged on the wheel disc of the main rotating structure, the mounting seat is arranged on the rotating shaft of the secondary rotating structure, and the optical component is connected with the mounting seat and follows the The rotation axis of the secondary rotation structure rotates. The rotation axis of the secondary rotation structure is located on the ray with the rotation axis of the primary rotation structure as the origin, the rotation direction of the primary rotation structure and the secondary rotation structure are opposite, and the angular velocity of rotation is the same

Further, the primary rotating structure is provided with a plurality of secondary rotating structures. Any sub-rotation structure can be connected to an optical component for motion imaging compensation, and increasing the number of sub-rotation structures can shorten the imaging cycle. The mass distribution of each secondary rotating structure is dynamically balanced, and the mass distribution of the motion compensation mechanism composed of multiple secondary rotating structures and the main rotating structure is dynamically balanced to avoid jitter or vibration under the rotating condition of the motion imaging compensation unit, which will affect the to image quality. Preferably, spatially symmetrical arrangement is adopted, and adjustment is performed by dynamic balancing equipment. Specifically: Vibration reduction and vibration isolation treatment are carried out on the connection structure. One motion compensation unit can be matched with multiple imaging units. Further, the optical component includes an optical device connected with the secondary rotation structure; and an optical device arranged in front of the lens or in the middle of the lens group or between the focal plane and the lens, and the optical device adopts a reflection device, a notch reflection device , transflective device, concave cylindrical reflector, convex cylindrical reflector, spherical reflector, bandpass device, telecentric optical path device, or any two or a combination of more than two. Specifically: the optical component can have the function of separating the spectral energy of the imaging target scene and conducting it to the imaging device, and one or several spectral energy images of the target can be obtained; an optical device can be set on the optical path of the imaging target scene entering the imaging device, dividing the The target field of view is guided to different imaging units to achieve multi-imaging unit imaging and multi-spectral imaging.

Further, the optical device connected with the sub-rotation structure is composed of more than two reflecting mirror surfaces in the reflection direction, and the side view is a "Λ" type structure, and the reflecting mirror surfaces have different or the same spectral characteristics or/and optical characteristics. : The spectral properties include reflection properties, transmission properties, and absorption properties, and the optical properties include different geometric surface types. Specifically, the imaging optical paths of multiple groups of imaging units share a mirror, and each imaging unit is guided to point to the same or different imaging target areas for synchronous imaging through the difference between the main optical axis and the reflection angle or transmission angle of the mirror.

Further, the optical device connected to the secondary rotation structure is a group of optical devices that are rotated under program control, and the rotation axis of the optical device is perpendicular to the axis of the secondary rotation structure. During the motion compensation imaging process, the axial direction and movement direction of the optical device rotation axis are parallel.

Further, the rotating optics have one or more mirror surfaces.

Further, the reflective surface of the rotating optics is a conical surface.

Further, the reflective surface of the rotating optical device is a circular pyramid surface.

Further, the rotating optical device has two mirror surfaces separated by mirror symmetry in a "Λ" shape.

Further, the laser ranging unit matched with the rotating optical device connected with the secondary rotating structure can match the rotation speed of the optical device according to the program, and perform laser ranging or/and laser imaging on the surrounding target.

Further, the moving parts included in the motion imaging compensation device are all located in a vacuum or air-thin sealed environment, or both the motion compensation unit and the imaging unit are in a vacuum or air-thin sealed environment. The primary rotating structure of the motion compensation unit and the secondary rotating structure and the optical components connected to the secondary rotating structure are shaped to reduce air resistance. Since the primary rotating structure and the secondary rotating structure drive the optical reflective component to rotate, the air will The rotation compensation unit generates resistance and causes vibration, so the optical components connected with the primary rotation structure and the secondary rotation structure and the secondary rotation structure are placed in a thin air or vacuum environment, thereby reducing the influence of air resistance. If only the motion compensation unit is placed in a thin air or vacuum environment, a window glass needs to be set on the optical path between the imaging unit and the motion compensation unit. Preferably, both the imaging unit and the moving parts of the motion compensation unit can be set in the thin air. Or in a vacuum environment, omitting the window glass on the optical path between the imaging unit and the motion compensation unit can reduce the loss of imaging light energy, which is beneficial to imaging, and the sealed environment is beneficial to the imaging unit device being dust-proof and waterproof.

Further, a concentric rotating structure is set on the main rotating structure, an imaging unit is set on the concentric rotating structure, and the concentric rotating structure is set within the specified imaging time or the motion compensation angle interval α of the corresponding main rotating structure. Rotating in the opposite direction with the main rotating structure at the same angular velocity rate, the imaging unit rotates following the concentric rotating structure, keeping the main optical axis of the camera moving with the imaging field of view. As an example, the motion imaging compensation device can perform motion compensation during the external surround imaging operation. A typical working condition of the surround imaging is panoramic photography, and the relative motion mode of the panoramic photography is to image the surrounding target during the rotation of the imaging unit. The device for performing angular motion compensation during the encircling imaging operation is to set a concentric rotating structure on the main rotating structure, and an imaging unit is arranged on the concentric rotating structure, and within the specified imaging time or the corresponding main rotating structure. Within the motion compensation angle interval α, the concentric rotating structure and the main rotating structure rotate in opposite directions at the same angular velocity, and the imaging unit rotates following the concentric rotating structure to maintain the "gazing" of the imaging target scene during imaging. The imaging unit may be arranged in multiple groups; the imaging target field of view may directly enter the camera lens, or may enter the imaging unit through the optical component.

Further, in the imaging optical path formed by the imaging unit, one or more laser devices for projecting laser patterns onto the imaging target are included, and the device for projecting laser beams is a laser spot projector, a structured light projector or a laser rangefinder; The laser pattern to the imaging target includes a spot or light pattern that is combined based on laser wavelength and shape. Specifically: in the imaging process, the laser pattern is projected to the imaging target scene through the imaging optical path, and the object-side mark is formed on the image. The laser emitter that projects the laser pattern onto the imaging target, projects the laser pattern onto the target surface through the imaging optical path.

The laser device is connected with the secondary rotating structure, and the device rotates with the rotation of the secondary rotating structure. When the mirror on the secondary rotating structure keeps the imaging target area and the imaging target surface relatively stationary, it has a rigid connection with the secondary rotating structure. The effect of the pattern projected by the structured laser pattern projection device in the imaging target area is also relatively static, or the relative movement speed difference is less than a given threshold, and the laser pattern will not produce smear on the imaged image.

The laser unit projected into the field of view of the imaging target includes a laser spot projector, a structured light projector or a laser rangefinder and a combination of various laser emitters. The laser pattern projected onto the object-side target surface includes a light spot or light pattern, and the light spot and/or light pattern can be combined based on the laser wavelength and shape. The light spot is a simple laser light spot or a light spot projected by a laser ranging device, and the light pattern is a structured light pattern, a light spot or a combination of patterns; the electromagnetic wave wavelengths of the light pattern include ultraviolet, visible light, and infrared wavelengths, which can be sensed by the imaging unit and detected. Recorded as image information. Preferably, the laser ranging devices can be configured in multiples.

Further, two motion compensation units are included, and the two motion compensation units have respective main rotation structures and secondary rotation structures. Within the compensation angle α, the rotation parameters of the two main rotation structures and the secondary rotation structures are the same, and the directions are opposite. . The two motion compensation units have their own main rotation structure and secondary rotation structure. Within the compensation angle α, through the complementary displacement and angle matching of the optical components on the two secondary rotation structures, it is ensured that the optical path of the imaging optical path remains unchanged or less than given threshold. Preferably, the first motion compensation unit and the second motion compensation unit are located on both sides of the imaging optical path, respectively, and the two motion compensation units have the same rotation parameters of the main rotation structure and opposite rotation directions, so that the optical components of the two secondary rotation structures can realize In the same direction displacement compensation, the rotation angular rate of the two secondary rotation structures is the same, and the rotation directions are opposite, so that the optical components keep the attitude angle unchanged, so that the angle of the imaging unit conformation light remains unchanged, and the conformation light reaches the imaging target after two reflections. Preferably, the laser ranging device can be configured on the same optical path as the imaging unit, and the optical path of the laser ranging beam remains unchanged or within an allowable threshold during the ranging process to ensure the accuracy of the ranging value. Preferably, the imaging unit and the laser ranging device form an integrated unit with rigid connection.

A motion imaging compensation method, comprising the following steps:

A: Let the relative motion between the motion imaging compensation device and the imaging target be parallel motion or arc rotational motion;

B: The main rotation structure of the motion compensation unit rotates in one direction. Within the compensation angle α, the direction of the linear velocity component of the secondary rotation structure on the main rotation structure and the connected optical component is the same as the direction of the imaging target movement, and the relative movement speed is different. The value remains within the set threshold;

C: The optical components connected with the secondary rotation structure are rotated under the control of the secondary rotation structure, and the difference of the angle change of the conformation light of the imaging unit is kept within the set threshold, so that the imaging unit and the imaging target field of view are approximately relative to each other. Photosensitive imaging in a stationary state.

Further, the photosensitive process of one photosensitive imaging corresponds to the compensation angle α through which the main rotation mechanism of the motion compensation unit rotates. Within the compensation angle α, the main rotation structure changes the rotational speed so that the linear velocity generated by the axis of the secondary rotation structure is relative to the imaging target. The relative motion component difference in the motion direction is kept within the set threshold, and the secondary rotation structure controls the rotation of the optical component, keeping the difference of the constellation light angle change of the imaging unit within the set threshold. Specifically: a cycle of photosensitive imaging refers to the time from the beginning to the end of photosensitive imaging by the imaging unit. This cycle process corresponds to the compensation angle α through which the main rotation mechanism of the motion compensation unit rotates during this time, and the starting point of the compensation angle α for motion imaging. The definition of and the end point is that before entering the starting point of the compensation angle α interval, the linear speed adjustment of the optical components connected by the secondary rotating structure has started. The distance between the rotation axis of the main rotation structure and the rotation axis of the main rotation structure. After entering the starting point of the compensation angle α interval, the linear velocity component of the optical component of the secondary rotating structure has satisfied the conditions of motion imaging compensation. Within the compensation angle α, the linear velocity component of the optical component of the secondary rotating structure satisfies the condition at any time. Conditions for motion imaging compensation.

Further, the driving force for the rotation of the secondary rotating structure adopts an independent power device, or transmits the power of the primary rotating structure to the secondary rotating structure. Specifically: by changing the rotation speed of the main rotating mechanism, the purpose of changing the velocity component of the linear velocity of the optical components connected by the secondary rotating structure in the relative movement direction of the imaging target is achieved, so that the speed of the optical components in the relative movement direction of the imaging target is based on the relative movement speed. and change, so that the relative movement speed of the optical component in the relative movement direction of the imaging target and the imaging target field of view is kept within the set speed difference threshold and imaging is performed. The speed difference threshold corresponds to the displacement threshold of the imaging target on the photosensitive target surface of the imaging unit during the imaging process. The best situation is that the speed difference threshold is zero, and the imaging target and the photosensitive target surface of the imaging unit are in a relatively static state during the imaging process. The speed component of the optical component in the direction of the main optical axis of the imaging unit is controlled by the control system, and the control system sends an instruction to control the rotation speed of the main rotating mechanism according to the parameters collected by the speed sensor, or the relative movement speed of the imaging unit and the imaging target is in The movement is carried out according to the instructions of the control system. For example, the position of the imaging unit on the industrial assembly line is fixed, and the movement speed of the product on the assembly line is controlled by the control system.

Further, when the driving force for the rotation of the secondary rotating structure adopts an independent power device, by changing the distance between the position of the rotation axis of the secondary rotating structure and the position of the rotating axis of the main rotating structure, the line generated by the axis of the secondary rotating structure is changed. The relative motion component difference of the velocity in the direction of relative motion of the imaging target remains within a set threshold. Specifically: by changing the relative position of the rotation axis of the secondary rotation structure and the rotation axis of the main rotation structure, the purpose of changing the speed component of the optical components connected to the secondary rotation structure in the relative movement direction of the imaging target is achieved, so that the The speed of the optical component in the relative movement direction of the imaging target changes according to the relative movement speed of the imaging target, so that the relative movement speed of the optical component and the imaging target field of view is within a set speed difference threshold and imaging is performed. The speed difference threshold corresponds to the displacement threshold of the imaging target on the photosensitive target surface of the imaging unit during the imaging process. The best situation is that the speed difference threshold is zero, and the imaging target and the photosensitive target surface of the imaging unit are relatively stationary during the imaging process. The trajectory of the relative position change between the rotation axis of the secondary rotation structure and the rotation axis of the main rotation structure is a straight line or a curve. The direction of the relative position change can increase or decrease the distance along the connecting line between the two axes, thereby increasing or decreasing the linear velocity of the optical component, so as to increase or decrease the optical component in the main imaging unit. The purpose of the velocity component in the direction of the optical axis; the displacement between the axis of the secondary rotating structure and the axis of the main rotating structure can also be displaced along the tangential direction of the main rotating structure, and the superimposed tangential velocity changes the optical components in the imaging unit main light. The velocity component in the axial direction; it can also be a composite process of radial displacement and tangential displacement. The position change process between the rotation axis of the secondary rotation structure and the rotation axis of the main rotation structure is controlled by the control system, and the position movement of the secondary rotation structure can be realized based on mechanical force, electric force or magnetic force. The motion control system converts the parameters collected by the speed sensor into control instructions for position change, or the position change process is executed according to program parameters set by the control system.

Under the condition of constant rotational speed, the longer the distance between the rotational axis of the secondary rotational structure and the rotational axis of the primary rotational structure, the greater the linear velocity obtained by the rotational axis of the secondary rotational structure, which can achieve Compensation for imaging at higher relative motion speeds.

Further, the number of motion compensation units is 2, and the 2 motion compensation units move synchronously and have respective main rotation structures and secondary rotation structures. Within the compensation angle α, the optical components on the two secondary rotation structures are in the same direction. The displacement and the attitude angle are matched to ensure that the optical path of the imaging optical path is unchanged or the optical path change is less than a given threshold.

Further, the optical component of the secondary rotation structure adopts a concave cylindrical mirror, and the generatrix of the concave cylindrical mirror is parallel to the rotation axis of the secondary rotation structure. The rate data recovery method increases the resolution of the image.

Further, within the compensation angle α, the change of the linear velocity of the optical component of the secondary rotation structure is a monotonically falling mode, a monotonous rising mode or a wave mode, and the change of the linear velocity of the optical component of the secondary rotating structure can be a monotonous falling mode, for example : high rotation speed→reduce to low rotation speed; the change of the linear speed of the optical component of the secondary rotation structure can be a monotonous increase pattern, for example: low rotation speed → increase to high rotation speed; the change of the linear speed of the optical component of the secondary rotation structure can be Fluctuation law, for example: high speed→reduce speed→increase speed→reduce speed. This linear velocity change can be realized based on preset parameters, and can also be adjusted in real time based on external real-time input parameters.

The beneficial effects of the present invention are:

1. The beneficial effects of a motion imaging compensation device and compensation method of the present invention are: based on the unidirectional rotation of the main rotating structure, motion imaging compensation at high speed can be realized, and a very high motion speed compensation can be achieved, and the same motion compensation speed can be achieved. However, the vibration of the unidirectional rotating structure is far less than the vibration caused by the reciprocating motion. With the increase of the motion compensation speed, the reciprocating motion compensation scheme will lead to strong vibration and even cannot be realized. The motion compensation scheme proposed by the present invention is still can be realised. By changing the rotational speed of the primary rotating structure or/and the distance between the rotating axis of the primary rotating structure and the rotating axis of the secondary rotating structure, the linear velocity component required for motion compensation can be obtained. Motion compensation based on the rotation of the mirror with a single main rotation structure will bring about changes in the constellation angle of the imaging target's field of view. Especially in the imaging condition where a large angle is turned during the imaging time, the light angle of the single rotating mirror constellation changes the image deformation. The disadvantages are particularly serious. The present invention proposes to add a secondary rotating structure that rotates in the opposite direction on the primary rotating structure. Through the rotation of the optical components on the secondary rotating structure, the imaging unit or the optical components that guide the constellation light are maintained to maintain the field of view of the imaging target. The conformational angle is constant or within a set variation range. The motion imaging compensation method in which the primary rotation structure matches the secondary rotation structure has high adaptability to various motion compensation schemes. Based on the establishment of the object-side sign, geometric correction, projection transformation and accurate measurement of geometric elements can be performed on the obtained image.

Description of drawings

1 is a schematic structural diagram of a motion imaging compensation device of the present invention;

2 is a schematic diagram of the spatial relationship between the main rotation structure and the secondary rotation structure of the motion compensation unit of the present invention;

3 is a schematic structural diagram of a motion imaging compensation device comprising dual motion compensation units according to the present invention;

4 is a schematic structural diagram of a motion imaging compensation device for rotational motion of the present invention;

5 is a structural diagram of a motion imaging motion compensation device for parallel motion of the present invention;

6 is a schematic diagram of the mirror-symmetrical arrangement of the double mirrors of the first main rotating structure and the last rotating structure of the present invention;

Fig. 7 is the structure schematic diagram that the present invention has 2 times of compensation;

8 is a schematic structural diagram of a rotating optical component on the secondary rotating structure of the present invention;

Reference signs: 1-reflector, 2-secondary rotation structure rotation axis, 3-main rotation structure rotation axis, 4, roulette 5-camera, 6-imaging target, 7-laser ranging unit, 8-camera mounting plate , 9-camera mounting plate rotation sleeve, 10-camera rotation optical center, 11-first main rotation structure, 12-second main rotation structure, 13-third main rotation structure, 14-main optical path, 15-optical components mount.

Detailed ways

All features disclosed in this specification, or all disclosed steps in a method or process, may be combined in any way except mutually exclusive features and/or steps.

It should be noted that relational terms such as the terms "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element. "Primary rotation structure" and "secondary rotation structure" are descriptions that distinguish the two rotation structures in the motion compensation unit, not the difference between primary and secondary. Based on the inseparable feature of the combined application of the primary rotation structure and the secondary rotation structure, when describing the motion compensation functional components in the technical solutions listed in the specification, the overall structure including the primary rotation structure and the secondary rotation structure is referred to as the primary rotation structure. When using a plurality of integral structures integrated by the main rotation structure and the secondary rotation structure in the technical solution, in order to distinguish the differences, the first main rotation structure, the second main rotation structure and the third main rotation structure are respectively described. 11 , 12 , 13 are referenced in the different figures, eg 11 in FIG. 2 , 11 , 12 in FIG. 3 , 11 , 12 , 13 in FIG. 7 ).

The dashed boxes in FIGS. 1-5 all represent the motion imaging compensation device A. As shown in FIG.

Example 1

A motion imaging compensation device as shown in FIG. 1, the motion imaging compensation device includes a base, an imaging unit, a motion compensation unit and a control system, the base adopts an integral frame structure, and the imaging unit, the motion compensation unit Connect with the control system as a whole. The motion imaging compensation device is fixed on the moving train, automobile, aerospace platform and other carriers through the base connection. The base is provided with an imaging unit, a motion compensation unit and a control unit, and the imaging unit is fixed on the base to ensure that the relative positional relationship between the motion compensation unit and the imaging unit is fixed, so that the optical parameters, distance, etc. are determined status. As shown in the schematic diagram of the motion unit structure of motion compensation as shown in Figure 2, the driving device for the rotation of the main rotating structure adopts a servo motor, the servo motor drives the main rotating structure to rotate around the rotating shaft 3, and the rotating shaft 2 of the secondary rotating structure is connected with the optical reflection part , the axis of the rotation axis 2 of the secondary rotation structure is located on the ray with the axis center of the rotation axis 3 of the main rotation structure as the origin. The motion of the motion imaging compensation device, as shown in Figure 1, the imaging target 6 and the motion imaging compensation device move in opposite directions, the relative motion direction of the imaging target 6 is P1, the motion direction is to the left, and the motion imaging compensation device relative motion direction to the right , the main rotation structure of the motion imaging compensation device rotates counterclockwise, so that the direction of the linear velocity at the position of the secondary rotation structure on the main optical axis of the camera is in the same direction as P1 and the speed difference is kept within the preset threshold, the camera The constellation light follows the movement of the imaging target 6 through the mirror 1, and the constellation light L1 enters the camera 5 through the mirror 1 to complete the imaging. The motion imaging compensation device shown in FIG. 1 realizes the compensation of the relative parallel motion within the set rotation angle interval angle α. The relative movement speed can be constant or non-constant; the control system controls the operation and image recording of the above-mentioned devices. The exposure time of the imaging unit is equivalent to the motion compensation angle interval α through which the main rotation structure rotates during the exposure time, and the main rotation structure and the secondary rotation structure have the same angular velocity. The main rotating structure drives the optical reflection component to perform arc motion, forming two velocity components, vertical and horizontal. Within the motion compensation angle interval α, it is required that the speed difference between the horizontal component of the linear speed and the relative motion speed satisfy a preset threshold range. The rotation speed of the main rotating structure is adjusted by the servo motor and the servo control system so that the relative movement speed of the imaging unit of the optical reflection component and the field of view of the imaging target 6 in the direction of the main optical axis is within the preset speed difference threshold, and it can be approximated that the imaging unit is relatively Since the imaging target is in a stationary state, motion blur can be effectively avoided. Of course, in an ideal situation, the relative motion speed difference is zero, and the motion imaging compensation effect is the best.

The starting point and the ending point of the compensation angle are preferably the position point B where the linear velocity direction of the optical component is consistent with the main optical axis of imaging. If point B is the end point, the speed change is: increase the speed → decrease to the original speed; if point B is the starting point, the speed change is: the original speed increases → decreases to the original speed. Otherwise, it will start to increase from the starting point → decrease to the original speed at point B → increase again → decrease to the original speed again. From the effect: in an imaging process, select point B as the starting point or end point of changing the speed, the speed has only one increase→decrease mode, and the change range of the speed increase and decrease is large; take point B as the middle of the compensation interval At any point, starting from the starting point to increase → to decrease to the original speed → increase again → decrease to the original speed again, the speed change range is small, but the speed has two continuous fluctuations. Preferably, when the vibration caused by the speed change is not serious, the above modes can be used. When the vibration caused by the rotation speed change is severe, it is preferable to use point B as the starting point or the ending point.

Example 2

Based on a motion imaging compensation device according to Embodiment 1, the motion compensation unit changes the rotation speed of the main rotating mechanism within the angle α required by the imaging unit to be imaged, so that the optical reflection component can see the imaging target 6 in the direction of the main optical axis of the imaging unit The relative movement speed of the field is kept within the set speed difference for imaging, and the method for adapting to matching with the relative movement speed is: when the main rotating structure rotates to the angle α of the imaging compensation, the movement compensation unit changes the The distance between the axis of the rotating shaft 2 of the secondary rotating structure and the axis of the rotating shaft 3 of the main rotating structure, thereby changing the linear velocity of the secondary rotating structure, to change the linear velocity of the optical component mirror 1 in the direction of the imaging optical axis. The effect of the component makes the relative movement speed of the optical reflection component in the direction of the main optical axis of the imaging unit and the field of view of the imaging target 6 within the set speed difference and imaging, this speed can be constant or non-constant ; Change the distance between the rotation axis of the secondary rotation structure and the rotation axis of the main rotation structure, and the power to push the secondary rotation structure to change the distance from the main rotation structure can be electric power, magnetic force or mechanical force. Changing the distance and attitude in a cam-like manner is one of the solutions using mechanical force. In the process of realizing motion speed compensation by changing the distance between the secondary rotating structure and the primary rotating structure without changing the rotational speed of the primary rotating structure, the movement trajectory of the secondary rotating structure is a straight line or a curve. The method of changing the rotational speed can also be combined with the method of changing the distance between the secondary rotating structure and the main rotating structure to achieve the effect of changing the component of the linear velocity of the optical component mirror 1 in the direction of the imaging optical axis.

Example 3

Based on a motion imaging compensation device in

Embodiments

1 and 2, the main rotating structure can be provided with a plurality of secondary rotating structures, and the distribution of the secondary rotating structures adopts the mass symmetrical distribution to avoid jitter due to mass asymmetry during rotation. . Setting up two groups, three groups, four groups, and even multiple groups of secondary rotation structures are selected based on: the angle α of the imaging compensation of the main rotation structure, the rotation speed of the main rotation structure, the time interval between two imaging, the rotation space of the secondary rotation structure, Make matching selections. The more secondary rotating structures and mirrors are arranged on the main rotating structure, the shorter the time interval of each imaging is, thereby improving the efficiency of imaging operations. The rotation spaces of the multiple secondary rotating structures cannot interfere, the rotation speed of the primary rotating structure depends on the relative movement speed, and the angle α of the imaging compensation depends on the photosensitive time of the imaging unit. When the moment of inertia of each sub-rotation structure is the same, the angle-bisected symmetrical distribution is adopted. After the geometric structure of the secondary rotating structure is determined, a dynamic balance adjustment device is used for adjustment. When the main rotating structure and the secondary rotating structure are integrated into one, the dynamic balance adjustment device is used for adjustment. When the motion compensation unit is integrated, the natural frequency of the motion imaging compensation device is tested, and the vibration reduction and vibration isolation treatment is carried out in combination with the vibration characteristics of the carrier platform during use. Under a given linear velocity component index, the speed of the main rotating structure can be reduced by increasing the distance between the main rotating structure and the secondary rotating structure, thereby reducing the frequency of vibration.

Example 4

In the imaging unit multi-sensor imaging, an image-side telecentric lens can be set in the imaging optical path, and a roof prism can be set behind the image-side telecentric lens to segment the imaging target scene. Realize multi-imaging unit segmentation imaging in one scene.

Preferably, a plane mirror may be arranged on the secondary rotation structure.

Preferably, a concave cylindrical reflector/convex cylindrical reflector may be set on the secondary rotation structure, so that the imaging target can perform one-dimensional scaling up or one-dimensional scaling down of the scene again on the basis of the optical projection of the original lens.

Preferably, a concave cylindrical mirror is arranged on the secondary rotating structure, and the generatrix of the concave cylindrical surface is parallel to the rotation axis of the secondary rotating structure, so as to improve the sampling rate of the image in the relative movement direction.

Preferably, as shown in FIG. 6 , the optical component on the secondary rotation structure is composed of two mirrors to form a “Λ” type structure on the side, and the rotation axis of the secondary rotation structure is at the center of mass of the “Λ” type structure. Two mirrors guide different imaging units to simultaneously image the same target area or different target areas. The two mirrors are arranged in a mirror-image "Λ" type arrangement with respect to the center of rotation, or a non-mirror-image arrangement.

Preferably, the two reflecting mirror surfaces that are mirror-symmetrically separated in a "Λ" shape respectively guide the two imaging units to perform imaging based on lateral visual stereo.

Preferably, the two reflective mirror surfaces that are mirror-symmetrically separated in a "Λ" shape have different spectral reflection properties, respectively, and guide the two imaging units to perform imaging in different spectral bands.

Preferably, there are two mirror surfaces in a "Λ"-shaped mirror separation, one mirror surface guides the constellation light of the imaging unit to image the target, and the other mirror surface guides the laser projection pattern or/and the laser beam of the laser ranging to reach the target. target surface.

As shown in Figure 8: the main optical path 14 is represented by a dotted line. The scanning process perpendicular to the motion direction is realized by the rotation of the mirror 1. The optical device connected to the secondary rotation structure is a group of optical devices that are rotated under program control. The optical device The rotation axis is perpendicular to the axis of the secondary rotation structure, and during the motion compensation imaging process, the axis of the rotation axis of the optical device is parallel to the movement direction.

In the multispectral imaging of the imaging unit, filters, gratings, and transmission/reflection mirrors for different wavelengths can be added to the optical path, and multi-sensor or single-sensor imaging can be realized by the method of spectral separation.

The above solution of adding optical devices to the optical path may be a single solution or a combination of multiple solutions.

The positions of adding optical devices in the optical path may be three positions in front of the lens, in the middle of the lens and in front of the focal plane.

Example 5

The main rotating structure and the secondary rotating structure and the mirror 1 connected to the secondary rotating structure are located in a vacuum or air-thin sealed environment. Since the main rotating structure and the secondary rotating structure drive the optical reflection part to rotate, the air resistance will be reduced. Therefore, the main rotating structure, the secondary rotating structure and the mirror 1 connected to the secondary rotating structure are placed in a thin air or vacuum environment, so as to reduce the influence of air resistance during the rotation of the rotation compensation unit. However, this solution requires two pieces of window glass to ensure that the conformational rays of the imaging target scene are projected onto the optical components of the secondary rotating structure and enter the imaging unit. Further, the imaging unit and the motion compensation unit can be co-located in a vacuum or a sealed environment with thin air, and the window glass on the optical path between the imaging unit and the optical components can be removed. In addition to reducing the loss of light energy, it is also convenient for the imaging unit to be dust-proof and waterproof. .

Example 6

A motion imaging compensation device including a combination of two motion compensation units based on Embodiment 1, as shown in FIG. 3 ; the motion imaging compensation device includes two motion compensation units, each motion compensation unit includes a main rotation structure, The lower right is the first main rotating structure 11 , and the upper left is the second main rotating structure 12 . The secondary rotating structures on the two main rotating structures have the same linear velocity direction and the same speed, and the two mirrors guide the imaging target conformation light into the imaging unit. ; The motion imaging compensation device also includes a laser ranging unit 7, which is arranged on the base. In the process of motion imaging, with the operation of the carrier platform, the imaging target 6 and the motion imaging compensation device move relative to each other, the relative movement direction of the imaging target 6 is P1, and the first main rotation structure 11 rotates to make the matching secondary rotation structure line The velocity component is the same as P1. The second primary rotating structure 12 rotates so that the linear velocity component of the matching secondary rotating structure is the same as P1. The optical components on the first main rotation structure 11 and the second main rotation structure 12 move at the same speed, the spatial attitude angles of the optical components on the first main rotation structure 11 and the second main rotation structure 12 remain unchanged, and the conformational light L1 passes through the first main rotation structure 11 and the second main rotation structure 12. The mirror 1 on one main rotating structure 11 reflects to the mirror on the second main rotating structure 12 , and after being reflected by the mirror on the second main rotating structure 12 , it enters the camera 5 to complete the imaging. The laser ranging unit 7 emits a laser beam, and the emission direction of the laser beam light L2 emitted by the laser ranging unit can be consistent with the lens orientation of the camera 5 of the corresponding imaging unit, so as to obtain the imaging area corresponding to the image collected by the imaging unit. With the distance data between the imaging unit, the synchronized motion of the two optics compensates for the distance variation of the laser beam when there is only 1 motion compensation mechanism. Convert the laser ranging data to the distance of the equivalent optical center of the camera, that is, the object distance, and calculate the scale of the image. During the imaging process, the object-side mark is projected to the imaging target 6 scene through the imaging optical path. The object-side mark includes a light spot or a light pattern. The light spot is a simple laser light spot or a light spot projected by a laser ranging device, and the light pattern is a structured light pattern. , a combination of light spots or patterns; the electromagnetic wave wavelengths of the light patterns include wavelengths that can be detected and recorded in ultraviolet, visible light, and infrared; the method for motion compensation and length correction of the ranging beam of the object-side laser ranging spot mark includes: laser ranging The optical path length of the laser beam can be guided by a set of reflective components that are parallel to each other and move at the same speed to ensure that the optical path length of the laser beam does not change due to the movement of the single reflective component. For the structure with a single motion compensation unit, after the optical path length of the laser beam and the optical path length of the constellation beam are changed due to the movement of the single reflection part, the optical path length of the laser beam is corrected by measuring the displacement distance of the reflection part, and the laser distance measuring device implements The time of ranging is synchronized with the time of imaging. The imaging unit and the laser projector have a fixed positional relationship, and the fixed positional relationship solidifies the geometric relationship of the laser pattern on the image, and provides control points and control lines for the geometric correction and projection transformation of the image.

In another embodiment, based on a motion imaging compensation device with a combination of three motion compensation units based on Embodiment 1 and Embodiment 4, as shown in FIG. 7 : the first main rotation structure 11 completes the first motion compensation, and the first The second main rotation structure 12 realizes the second motion compensation. After the first main rotation structure 11 and the second main rotation structure 12 are applied in combination, two motion compensations of the imaging process of the left imaging unit are realized; similarly, the first main rotation structure 11 completes the first motion compensation, and the third main rotation structure 13 Implement the second motion compensation. After the first main rotation structure 11 and the third main rotation structure 13 are applied in combination, two motion compensations of the imaging process of the right imaging unit are realized.

Further, a laser pattern projection device is used on the right side to project the laser pattern onto the imaging target by reflecting twice the optical components of the last rotating structure of the third main rotating structure 13 and the optical components of the last rotating structure of the first main rotating structure 11 Area.

Example 7

A rotary motion imaging compensation device based on Embodiment 1 is shown in FIG. 4 , the rotary motion compensation device includes a main rotation structure, and the main rotation structure is provided with a camera mounting plate 8 that is coaxial with the main rotation structure , the axis position of the main rotating structure is also provided with a concentric rotating bushing of the camera mounting plate 8, the camera mounting plate 8 is symmetrically provided with the camera 5 at both ends, and the camera mounting plate rotating bushing 9 is arranged in the middle , in the motion mode in which the desired panoramic surround imaging environment performs relative rotation, the corresponding rotational blur will be generated by the rotational motion imaging. The rotary motion imaging compensation device is adopted, so that when the imaging unit performs circular motion imaging of the external peripheral environment, the imaging unit can perform rotational angular displacement compensation. The movement direction of the imaging target 6 relative to the rotational motion compensation device is P1, the relative rotation direction of the main rotating structure is counterclockwise, the angular displacement compensation rotation direction 14 of the camera during annular imaging is clockwise, and the rotation of the camera reset after completing the imaging compensation The direction is counterclockwise; similarly, when the main rotating structure rotates clockwise, the rotation direction 14 of angle compensation during annular imaging is counterclockwise, and the rotation direction of angle compensation reset is clockwise. The rotation direction of the imaging compensation corresponding to the motion of the imaging unit depends on the displacement direction generated by the relative movement between the imaging unit and the imaging target, and the imaging unit completes imaging when the constellation light of the imaging unit stares at the target.

When the motion imaging compensation device images the imaging target with the arc-shaped motion of the carrier, the motion imaging compensation device is provided with a mirror structure, so that when the imaging unit performs circular motion imaging of the surrounding environment, translation compensation and angle compensation are performed on the imaging unit.

Example 8

A parallel motion imaging compensation device based on Embodiment 1 is shown in FIG. 5 , the parallel motion compensation device includes a main rotation structure, and a camera 5 is arranged on the main rotation structure, and the rotation optical center of the camera 5 is along the main rotation structure. The rotation axis 3 of the rotating structure is symmetrically distributed, and the moving direction of the imaging target 6 relative to the rotating motion compensation device is P1. When the main rotating structure rotates counterclockwise, the angle of the camera rotating the optical center 10 compensates for the rotating direction clockwise; when the main rotating When the structure rotates clockwise, the angle of the camera rotates the optical center 10 to compensate the rotation direction in the counterclockwise direction, so as to realize the motion imaging compensation in the state of parallel motion.

Example 9

Based on a motion imaging compensation method of Embodiments 1-8, the motion imaging compensation method specifically includes the following contents:

The main rotating structure rotates in one direction, and the component of the linear velocity of the secondary rotating structure on the main rotating structure and the connected optical components in the relative motion direction of the imaging target cancels the relative motion component of the imaging target, so that the secondary rotating structure and the imaging unit main The difference between the linear velocity component parallel to the optical axis and the relative motion velocity of the imaging field of view is kept within a preset threshold;

The secondary rotation structure rotates, and the structure formed with the optical components keeps the optical axis angle of the main optical axis of the imaging unit pointing to the field of view unchanged during the imaging process or the angle change is within a preset threshold;

The imaging process and motion compensation are in the same time period, so that the imaging target field of view guided into the imaging optical path is imaged within the time that meets the preset relative displacement difference threshold, and the motion blur of the obtained image is reduced;

The device for projecting the laser pattern is connected with the secondary rotating structure, and the device rotates with the rotation of the secondary rotating structure. When the mirror on the secondary rotating structure keeps the imaging target area and the imaging target surface relatively stationary, it has rigidity with the secondary rotating structure. The effect of the pattern projected by the laser pattern projection device of the connection structure in the imaging target area is relatively static, or the relative movement speed difference is less than a given threshold, and the laser pattern will not produce smear on the imaged image.

Preferably, the laser projection device pre-adjusts and fixes its spatial attitude angle and spatial position, and pre-calculates the spatial geometric relationship of the pattern to form useful parameters for image geometric correction. The laser projection device pre-adjusts and fixes its spatial attitude angle and spatial position. The laser pattern and the spatial triangular geometric relationship of the imaging unit form a definite functional relationship, which can solve the parameters for image geometric correction and scale correction.

The optical components of the sub-rotation structure use concave cylindrical mirrors, and the generatrix of the concave cylindrical mirror is parallel to the rotation axis of the sub-rotation structure. The acquired image has a higher pixel sampling rate in the direction of relative motion, and is later restored based on high sampling rate data. method to increase the resolution of the image.

In the motion compensation angle interval α, the driving force for the rotation of the secondary rotating structure can be an independent power device, or the power of the primary rotating structure can be mechanically transmitted to the secondary rotating structure.

The specific realization process is as follows: the main rotation mechanism rotates in one direction, the optical reflection part is rigidly connected to the secondary rotation structure, the rotation axis of the optical reflection part whose angular velocity is ω is parallel to the rotation axis of the rotation structure, the acquisition imaging target and the motion imaging compensation The relative motion speed parameter between the devices, the relative motion speed parameter is the component V ₁ of the linear velocity that the secondary rotating structure should reach within the compensation angle α in the relative motion direction of the imaging target. After V ₁ is calculated, the primary rotating structure is obtained. The control parameters corresponding to the rotational speed of the main rotating structure are fed back to the control system to control the speed change of the main rotating structure; the secondary rotating structure rotates in the opposite direction to the main rotating structure, and the secondary rotating structure drives the reflective optical components to rotate, keeping the spatial angle of the optical device unchanged. , used for attitude angle compensation, keeping the optical axis angle of the main optical axis of the imaging unit pointing to the field of view unchanged or the angle change within the preset threshold value during the imaging process _; The system compares the linear velocity V 1 of the secondary rotating structure and the linear velocity V ₂ of the imaging field of view within the compensation angle α interval, and the control system calculates the difference between the linear velocity V _{1 of the secondary rotating structure 2 and the linear velocity V 2} _of _the imaging field of view When the difference is greater than the preset threshold range, the linear velocity V ₁ of the secondary rotating structure 2 is compensated, so that the difference between the linear velocity V 1 of the secondary rotating structure ₂ and the linear velocity V ₂ of the imaging field of view satisfies the predetermined threshold. Set the threshold interval.

The imaging unit and the motion compensation unit are connected to the base. The main rotation structure of the motion compensation unit realizes speed compensation through the linear velocity component of unidirectional rotation. The secondary rotation structure rotates in the opposite direction to the main rotation structure, and the secondary rotation structure maintains the space of the optical components through rotation. The attitude angle does not change, so that the imaging optical path does not change during the motion imaging compensation process; according to the relationship between the imaging unit and the imaging optical path of the optical components of the motion compensation unit, as well as the relative motion speed and photosensitive time, determine the linear velocity component length required for motion compensation and The corresponding imaging photosensitive time starting point and its duration, determine the rotation angle compensation interval angle corresponding to the main rotating structure; The distance between the axis position of the main rotating structure, during the photosensitive imaging process of the imaging unit, the rotation of the main rotating structure causes the relative movement of the component of the linear velocity of the optical reflective member on the secondary rotating structure in the direction of the main optical axis of the imaging unit and the imaging target The speed is kept within the set threshold, and the rotation of the secondary rotating structure itself keeps the spatial attitude angle of the optical reflection component unchanged during the imaging process, forming the effect of staring at the imaging target field of view, and realizing the relative movement speed of the imaging target field of view and the imaging system. Image within the range that meets the set speed difference threshold.

The above are only the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art may, within the technical scope disclosed by the present invention, think of changes or changes without creative work. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope defined by the claims.

Claims

A motion imaging compensation device is characterized in that: the motion imaging compensation device comprises a base, an imaging unit, a motion compensation unit and a control system, the base is used for fixing the spatial positions of the imaging unit and the motion compensation unit, and the control system Control the operation of the motion imaging compensation device, the motion compensation unit includes a main rotation structure and a secondary rotation structure, and also includes an optical component arranged on the optical path between the photosensitive target surface of the imaging unit and the imaging target, and the optical component follows The rotation axis of the secondary rotation structure rotates, the rotation axis of the secondary rotation structure is located on the ray with the rotation axis of the primary rotation structure as the origin, the rotation direction of the primary rotation structure and the secondary rotation structure are opposite, and the rotation angular velocity is the same.
The motion imaging compensation device according to claim 1, wherein a plurality of secondary rotation structures are arranged on the main rotation structure.
A motion imaging compensation device according to claim 1, characterized in that: the optical component comprises an optical device connected with the secondary rotation structure; The optical device adopts any one of a reflection device, a notch reflection device, a transflective device, a concave cylindrical reflection device, a convex cylindrical reflection device, a spherical reflection device, a bandpass device, and a telecentric optical path device, or Any combination of two or more.
A motion imaging compensation device according to claim 3, characterized in that: the optical device connected to the secondary rotation structure is composed of more than two reflecting mirror surfaces in the reflection direction, and the side view is a "Λ" type structure, and the reflecting mirror surfaces have different or the same spectral or/and optical properties.
A motion imaging compensation device according to claim 3, wherein the rotation axis of the optical device connected to the secondary rotation structure is perpendicular to the rotation axis of the secondary rotation structure, and during the motion compensation imaging process, the axial direction of the rotation axis of the optical device is vertical. parallel to the direction of relative motion.
The motion imaging compensation device according to claim 1, wherein the moving parts included in the motion imaging compensation device are all in a vacuum or a sealed environment with thin air, or both the motion compensation unit and the imaging unit are in a vacuum or air in thin airtight environments.
The motion imaging compensation device according to claim 1, wherein a concentric rotating structure is arranged on the main rotating structure, and an imaging unit is arranged on the concentric rotating structure, and the imaging unit is arranged on the concentric rotating structure. Within the motion compensation angle interval α of the structure, the concentric rotating structure and the main rotating structure rotate in opposite directions at the same angular velocity, and the imaging unit rotates following the concentric rotating structure, keeping the main optical axis of the camera moving with the imaging field of view.
The motion imaging compensation device according to claim 1, wherein the imaging optical path formed by the imaging unit includes one or more laser devices for projecting laser patterns on the imaging target, and the device for projecting laser beams is a laser spot Projector, structured light projector, or laser rangefinder; the laser pattern projected onto the imaging target includes a light spot or light pattern that is combined based on laser wavelength and shape.
The motion imaging compensation device according to claim 8, wherein the laser device is connected to the secondary rotating structure, and the device rotates with the rotation of the secondary rotating structure.
A motion imaging compensation device according to claim 1, characterized in that it comprises two motion compensation units, and the two motion compensation units have respective primary rotation structures and secondary rotation structures, and within the imaging compensation angle α, 2 The rotation parameters of the main rotating structure and the secondary rotating structure are the same, but the directions are opposite. threshold.
A motion imaging compensation method, characterized in that:

A: Let the relative motion between the motion imaging compensation device and the imaging target be parallel motion or arc rotational motion;

B: The main rotation structure of the motion compensation unit rotates in one direction, the direction of the linear velocity component of the secondary rotation structure on the main rotation structure and the connected optical component is the same as the direction of the movement of the imaging target, and the time of one photosensitive imaging corresponds to the motion compensation unit The compensation angle through which the main rotating mechanism rotates is α, and within the compensation angle α, the relative movement speed difference remains within the set threshold;

C: The optical components connected with the secondary rotation structure are rotated under the control of the secondary rotation structure, and the difference of the angle change of the conformation light of the imaging unit is kept within the set threshold, so that the imaging unit and the imaging target field of view are approximately relative to each other. Photosensitive imaging in a stationary state.
A motion imaging compensation method according to claim 11, characterized in that: within the compensation angle α, the main rotating structure changes the rotational speed to make the relative motion component difference of the linear velocity generated by the axis of the secondary rotating structure in the relative motion direction of the imaging target. The value is kept within the set threshold value, and the secondary rotation structure controls the rotation of the optical component to keep the difference value of the change of the conformational light angle of the imaging unit within the set threshold value.
A motion imaging compensation method according to claim 11, wherein: when the driving force for the rotation of the secondary rotating structure adopts an independent power device, by changing the position of the rotation axis of the secondary rotating structure and the rotating axis of the main rotating structure The distance from the center position keeps the relative motion component difference of the linear velocity generated by the axis of the secondary rotating structure in the relative motion direction of the imaging target within the set threshold.
The motion imaging compensation method according to claim 11, wherein within the compensation angle α, the change of the linear velocity of the optical component of the secondary rotation structure is a monotonically decreasing mode, a monotonically increasing mode or a wave mode.